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We create a virtual 2D tactile array for soft pneumatic actuators usingembedded audio components. We detect contact-specific changes in soundmodulation to infer tactile information. We evaluate different soundrepresentations and learning methods to detect even small contact variations.We demonstrate the acoustic tactile sensor array by the example of a PneuFlexactuator and use a Braille display to individually control the contact of 29x4pins with the actuator's 90x10 mm palmar surface. Evaluating the spatialresolution, the acoustic sensor localizes edges in x- and y-direction with aroot-mean-square regression error of 1.67 mm and 0.0 mm, respectively. Evenlight contacts of a single Braille pin with a lifting force of 0.17 N aremeasured with high accuracy. Finally, we demonstrate the sensor's sensitivityto complex contact shapes by successfully reading the 26 letters of the Braillealphabet from a single display cell with a classification rate of 88%.

A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing